# -- coding: utf-8 --
"""
# [Example] Miahx© 交互框架信息表示模型的 DDS 消息收发示例

**模块：MIAHX© / 框架基础服务层（FFST） / 交互框架信息表示模型（IFIRM）**

Version: 0.4.10,
Last updated: October 13, 2024

## Contributor(s)
* YAO Naiming <[naiming@iscas.ac.cn](mailto:naiming@iscas.ac.cn)>

## Change log
### v0.4.10
- .13: [更新] 适配新消息定义
- .8: [新增] packed 模式支持 timestamps 和 sns 字段 (deprecated)
- .2: [更新] 适配新接口 (deprecated)
### v0.4.7
- .24：[新增] 初始实现

---
Copyright © 2024-2025 MIAHX Contributors, ISCAS, and ASIC. All Rights Reserved.
Licensed under Apache-2.0.
"""

import threading
import time

import numpy as np
from miahx_support.dds.fastdds import *
from miahx_support.stag import STag

import launcher


def bng_adv_imu_writer(p: Participant, e: threading.Event):
    stag = STag(**dict(sensor_channel=1, sensor_domain='CARRIER', sensor_type='VBNG_IMU_ADV',
                       sensor_channel_type='IGNORE', sensor_modality='VEC', sensor_data_format='CSV')).encode()
    writer = BngAdvImuStreamWriter(p, stag=stag, srate=10, schns=[str(i) for i in range(10)])
    while not e.is_set():
        chunk = [(100, 12.23,
                  dict(pos=[0, 0, 0], dir_x=[1, 1, 1], dir_y=[2, 2, 2], dir_z=[3, 3, 3], mass=4, ang_vel=[5, 5, 5],
                       ang_vel_smooth=[6, 6, 6], ang_accel=[7, 7, 7], acc_raw=[8, 8, 8], acc_smooth=[9, 9, 9])),
                 (200, 22.23,
                  dict(pos=[0, 0, 0], dir_x=[1, 1, 1], dir_y=[2, 2, 2], dir_z=[3, 3, 3], mass=4, ang_vel=[5, 5, 5],
                       ang_vel_smooth=[6, 6, 6], ang_accel=[7, 7, 7], acc_raw=[8, 8, 8], acc_smooth=[9, 9, 9]))]
        writer.write(chunk, 0, 0)
        time.sleep(1)


def bng_adv_imu_reader(p: Participant, e: threading.Event):
    def on_data_available(data):
        hdr = data.header()
        dm = hdr.header().domain()
        src = hdr.header().source()
        prefix = f'[{dm}::{src}::{name}]'

        schns = tuple(hdr.schns())
        samples = list(data.samples())
        log.info(f'{prefix} stag = `{hdr.stag()}`')
        log.info(f'{prefix} srate = `{hdr.srate()}`')
        log.info(f'{prefix} schns = `{schns}`')
        log.info(f'{prefix} elements = [{len(samples)}]')

        for i, sample in enumerate(samples):
            log.info(f'{prefix} Element [{i}]:')
            log.info(f'{prefix} \t\tpos = `{tuple(sample.pos())}`')
            log.info(f'{prefix} \t\tdir = `{np.array([sample.dir_x(), sample.dir_y(), sample.dir_z()])}`')
            log.info(f'{prefix} \t\tmass = `{sample.mass()}`')
            log.info(f'{prefix} \t\tang_vel = `{tuple(sample.ang_vel())}`')
            log.info(f'{prefix} \t\tang_vel_smooth = `{tuple(sample.ang_vel_smooth())}`')
            log.info(f'{prefix} \t\tang_accel = `{tuple(sample.ang_accel())}`')
            log.info(f'{prefix} \t\tacc_raw = `{tuple(sample.acc_raw())}`')
            log.info(f'{prefix} \t\tacc_smooth = `{tuple(sample.acc_smooth())}`')
            log.info(f'{prefix} End Element [{i}] --------')

        log.info(f'{prefix} ----------------')

    with BngAdvImuStreamReader(p, on_data_listeners=[on_data_available]) as reader:
        name = type(reader).__name__
        log.success(f'[{name}] Topic: {reader.topic_name}')
        reader.wait(e)


if __name__ == '__main__':
    log = launcher.log
    event = threading.Event()
    participant = Participant()

    launcher.run(lambda: (event, [
        threading.Thread(target=bng_adv_imu_writer, args=(participant, event), daemon=False),
        threading.Thread(target=bng_adv_imu_reader, args=(participant, event), daemon=False),
    ]))
